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RC_Channel_aux: minor cleanups

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remove unused enable_out_ch() and enable k_manual channels. This
ensures k_manual channels used for bottle drop are initialised
correctly to trim output
This commit is contained in:
Andrew Tridgell 2012-09-16 15:50:13 +10:00
parent 127117b640
commit 8620a036de
2 changed files with 3 additions and 16 deletions
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17
libraries/RC_Channel/RC_Channel_aux.cpp
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@ -18,26 +18,15 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
static RC_Channel_aux *_aux_channels[7]; static RC_Channel_aux *_aux_channels[7];
/// enable_out_ch - enable the channel through APM_RC
void
RC_Channel_aux::enable_out_ch(unsigned char ch_nr)
{
// enable_out this channel if it assigned to a function
if( function != k_none ) {
_apm_rc->enable_out(ch_nr);
}
}
/// map a function to a servo channel and output it /// map a function to a servo channel and output it
void void
RC_Channel_aux::output_ch(unsigned char ch_nr) RC_Channel_aux::output_ch(unsigned char ch_nr)
{ {
// take care or two corner cases // take care of two corner cases
switch(function) switch(function)
{ {
case k_none: // disabled case k_none: // disabled
return; return;
break;
case k_manual: // manual case k_manual: // manual
radio_out = radio_in; radio_out = radio_in;
break; break;
@ -97,7 +86,8 @@ enable_aux_servos()
if (_aux_channels[i]) { if (_aux_channels[i]) {
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get(); RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
// see if it is a valid function // see if it is a valid function
if (function > RC_Channel_aux::k_none && function < RC_Channel_aux::k_nr_aux_servo_functions) { if (function < RC_Channel_aux::k_nr_aux_servo_functions) {
_aux_channels[i]->radio_out = _aux_channels[i]->radio_trim;
_aux_channels[i]->enable_out(); _aux_channels[i]->enable_out();
} }
} }
@ -118,7 +108,6 @@ RC_Channel_aux::set_radio_trim(RC_Channel_aux::Aux_servo_function_t function)
_aux_channels[i]->radio_trim.save(); _aux_channels[i]->radio_trim.save();
} }
} }
} }
/* /*

2
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -46,8 +46,6 @@ public:
AP_Int8 function; ///< see Aux_servo_function_t enum AP_Int8 function; ///< see Aux_servo_function_t enum
void enable_out_ch(unsigned char ch_nr);
void output_ch(unsigned char ch_nr); void output_ch(unsigned char ch_nr);
// set and save the trim for a function channel to radio_in // set and save the trim for a function channel to radio_in